{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:FZ4K2UHYNEMD4VW7NTPT4LMGLC","short_pith_number":"pith:FZ4K2UHY","canonical_record":{"source":{"id":"2303.14347","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-03-25T03:37:17Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"98a2626f9fbf0324848af471c5c8689a7667ad929fcec6c223c7b26710f06bed","abstract_canon_sha256":"20526114869df9811c92404e042bebe46af48ad1828def0a3c29c7fd378efb4e"},"schema_version":"1.0"},"canonical_sha256":"2e78ad50f869183e56df6cdf3e2d8658a45438d9aa6755956c961ffa88843414","source":{"kind":"arxiv","id":"2303.14347","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2303.14347","created_at":"2026-07-05T05:54:40Z"},{"alias_kind":"arxiv_version","alias_value":"2303.14347v1","created_at":"2026-07-05T05:54:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2303.14347","created_at":"2026-07-05T05:54:40Z"},{"alias_kind":"pith_short_12","alias_value":"FZ4K2UHYNEMD","created_at":"2026-07-05T05:54:40Z"},{"alias_kind":"pith_short_16","alias_value":"FZ4K2UHYNEMD4VW7","created_at":"2026-07-05T05:54:40Z"},{"alias_kind":"pith_short_8","alias_value":"FZ4K2UHY","created_at":"2026-07-05T05:54:40Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:FZ4K2UHYNEMD4VW7NTPT4LMGLC","target":"record","payload":{"canonical_record":{"source":{"id":"2303.14347","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-03-25T03:37:17Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"98a2626f9fbf0324848af471c5c8689a7667ad929fcec6c223c7b26710f06bed","abstract_canon_sha256":"20526114869df9811c92404e042bebe46af48ad1828def0a3c29c7fd378efb4e"},"schema_version":"1.0"},"canonical_sha256":"2e78ad50f869183e56df6cdf3e2d8658a45438d9aa6755956c961ffa88843414","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:54:40.052636Z","signature_b64":"OCeVF6XTAw0802BNwtEnKl+krHz1j8rndt/cIjnz7Zgtiza2oSZBU5+IP0qA4Z/v0mDcCgLwqiMOiy/DHFqACw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"2e78ad50f869183e56df6cdf3e2d8658a45438d9aa6755956c961ffa88843414","last_reissued_at":"2026-07-05T05:54:40.052213Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:54:40.052213Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2303.14347","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T05:54:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7Q1RhXRvlvykb9bzOfEXa2FCXNSATDpDVv7xTQozOFhlkU23A8sbIPFGps5vWLf/mz6yu4/itGzw9boVfvvSDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-16T03:43:14.460367Z"},"content_sha256":"1a7f0f786d077e58fb4719b19780950c23f010a9bde62e6aea4cae7d2e7592bb","schema_version":"1.0","event_id":"sha256:1a7f0f786d077e58fb4719b19780950c23f010a9bde62e6aea4cae7d2e7592bb"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:FZ4K2UHYNEMD4VW7NTPT4LMGLC","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Vision-based Vineyard Navigation Solution with Automatic Annotation","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"David Combs, Ertai Liu, Josephine Monica, Kaitlin Gold, Lance Cadle-Davidson, Yu Jiang","submitted_at":"2023-03-25T03:37:17Z","abstract_excerpt":"Autonomous navigation is the key to achieving the full automation of agricultural research and production management (e.g., disease management and yield prediction) using agricultural robots. In this paper, we introduced a vision-based autonomous navigation framework for agriculture robots in trellised cropping systems such as vineyards. To achieve this, we proposed a novel learning-based method to estimate the path traversibility heatmap directly from an RGB-D image and subsequently convert the heatmap to a preferred traversal path. An automatic annotation pipeline was developed to form a tra"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2303.14347","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2303.14347/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T05:54:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"3AB5130X/oBqRmEVDFtkh0sbmQsI6wS/+XG2Q+b+NcuELjDbOy8w0L9E1PMMUfC0MsNgrpSj8BOqUttBhMVdDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-16T03:43:14.460753Z"},"content_sha256":"4b3ffc9320d560490e6f45aad982434a7db9f680df920a04a933c1f4df318805","schema_version":"1.0","event_id":"sha256:4b3ffc9320d560490e6f45aad982434a7db9f680df920a04a933c1f4df318805"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/FZ4K2UHYNEMD4VW7NTPT4LMGLC/bundle.json","state_url":"https://pith.science/pith/FZ4K2UHYNEMD4VW7NTPT4LMGLC/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/FZ4K2UHYNEMD4VW7NTPT4LMGLC/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-07-16T03:43:14Z","links":{"resolver":"https://pith.science/pith/FZ4K2UHYNEMD4VW7NTPT4LMGLC","bundle":"https://pith.science/pith/FZ4K2UHYNEMD4VW7NTPT4LMGLC/bundle.json","state":"https://pith.science/pith/FZ4K2UHYNEMD4VW7NTPT4LMGLC/state.json","well_known_bundle":"https://pith.science/.well-known/pith/FZ4K2UHYNEMD4VW7NTPT4LMGLC/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:FZ4K2UHYNEMD4VW7NTPT4LMGLC","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"20526114869df9811c92404e042bebe46af48ad1828def0a3c29c7fd378efb4e","cross_cats_sorted":["cs.CV"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-03-25T03:37:17Z","title_canon_sha256":"98a2626f9fbf0324848af471c5c8689a7667ad929fcec6c223c7b26710f06bed"},"schema_version":"1.0","source":{"id":"2303.14347","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2303.14347","created_at":"2026-07-05T05:54:40Z"},{"alias_kind":"arxiv_version","alias_value":"2303.14347v1","created_at":"2026-07-05T05:54:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2303.14347","created_at":"2026-07-05T05:54:40Z"},{"alias_kind":"pith_short_12","alias_value":"FZ4K2UHYNEMD","created_at":"2026-07-05T05:54:40Z"},{"alias_kind":"pith_short_16","alias_value":"FZ4K2UHYNEMD4VW7","created_at":"2026-07-05T05:54:40Z"},{"alias_kind":"pith_short_8","alias_value":"FZ4K2UHY","created_at":"2026-07-05T05:54:40Z"}],"graph_snapshots":[{"event_id":"sha256:4b3ffc9320d560490e6f45aad982434a7db9f680df920a04a933c1f4df318805","target":"graph","created_at":"2026-07-05T05:54:40Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2303.14347/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Autonomous navigation is the key to achieving the full automation of agricultural research and production management (e.g., disease management and yield prediction) using agricultural robots. In this paper, we introduced a vision-based autonomous navigation framework for agriculture robots in trellised cropping systems such as vineyards. To achieve this, we proposed a novel learning-based method to estimate the path traversibility heatmap directly from an RGB-D image and subsequently convert the heatmap to a preferred traversal path. An automatic annotation pipeline was developed to form a tra","authors_text":"David Combs, Ertai Liu, Josephine Monica, Kaitlin Gold, Lance Cadle-Davidson, Yu Jiang","cross_cats":["cs.CV"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-03-25T03:37:17Z","title":"Vision-based Vineyard Navigation Solution with Automatic Annotation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2303.14347","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:1a7f0f786d077e58fb4719b19780950c23f010a9bde62e6aea4cae7d2e7592bb","target":"record","created_at":"2026-07-05T05:54:40Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"20526114869df9811c92404e042bebe46af48ad1828def0a3c29c7fd378efb4e","cross_cats_sorted":["cs.CV"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-03-25T03:37:17Z","title_canon_sha256":"98a2626f9fbf0324848af471c5c8689a7667ad929fcec6c223c7b26710f06bed"},"schema_version":"1.0","source":{"id":"2303.14347","kind":"arxiv","version":1}},"canonical_sha256":"2e78ad50f869183e56df6cdf3e2d8658a45438d9aa6755956c961ffa88843414","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2e78ad50f869183e56df6cdf3e2d8658a45438d9aa6755956c961ffa88843414","first_computed_at":"2026-07-05T05:54:40.052213Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:54:40.052213Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"OCeVF6XTAw0802BNwtEnKl+krHz1j8rndt/cIjnz7Zgtiza2oSZBU5+IP0qA4Z/v0mDcCgLwqiMOiy/DHFqACw==","signature_status":"signed_v1","signed_at":"2026-07-05T05:54:40.052636Z","signed_message":"canonical_sha256_bytes"},"source_id":"2303.14347","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1a7f0f786d077e58fb4719b19780950c23f010a9bde62e6aea4cae7d2e7592bb","sha256:4b3ffc9320d560490e6f45aad982434a7db9f680df920a04a933c1f4df318805"],"state_sha256":"7e52dec8bc133fa4f3267955c32d4e71061998c134dba140b5a4e1fe2ed6db3a"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6nX8beUuIGVfQPrSsk8HNwWvNDu0dhlEE2J7FWuWG2knJFV450+v+nniT2ZFlbX8rM2qw5cXch1cl+4tfcEmAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-16T03:43:14.462936Z","bundle_sha256":"a2143a646a8aae378602298832b2a69707e78b1c79675296204d42a96ad9d102"}}